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Download NJ-series Motion Control Instructions Reference
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3 Axis Command Instructions Meaning Master DistanceInACC Master Distance in Acceleration Master DistanceInDEC LinkOption Data type Valid range Default Description Non-negative number 0 Specify the travel distance of the master axis while the slave axis is accelerating. The unit is command units.*3 Master Dis- LREAL tance in Deceleration Non-negative number 0 Specify the travel distance of the master axis while the slave axis is decelerating. The unit is command units.*3 Synchronization Start Condition 0: _mcCommandEexecution 1: _mcTriggerDetection 2: _mcMasterReach 0*2 Specify the condition for the slave axis to synchronize with the master axis. LREAL _eMC_ LINKOPTION 0: When instruction execution starts MC_MoveLink Name 3 1: When trigger is detected MasterStart Distance Master Following Distance LREAL Negative number, positive number, or 0 0 Specify the absolute position of the master axis when the slave axis starts following the master axis. The unit is command units.*3 BufferMode Buffer Mode Selection _eMC_ BUFFER_ MODE 0: _mcAborting 1: _mcBuffered 0*2 Specify the operation when executing more than one motion instruction. 0: Aborting 1: Buffered *1 When you use _mcLatestCommand, the axis number set for the Master (Master Axis) in the system-defined variable for motion control must be lower than the axis number set for the Slave (Slave Axis) in the system-defined variable for motion control. *2 The default value for an enumeration variable is actually not the number, but the enumerator. *3 Refer to Unit Conversion Settings in the NJ-series CPU Unit Motion Control User's Manual (Cat. No. W507) for information on command units. Output Variables Name Meaning Data type Valid range Description Done Done BOOL TRUE or FALSE TRUE when the instruction is completed. InSync In Sync BOOL TRUE or FALSE TRUE when synchronization is started. Busy Executing BOOL TRUE or FALSE TRUE when the instruction is acknowledged. Active Controlling BOOL TRUE or FALSE TRUE when the axis is being controlled. CommandAborted Command Aborted BOOL TRUE or FALSE TRUE when the instruction is aborted. Error Error BOOL TRUE or FALSE TRUE while there is an error. ErrorID Error Code WORD * Contains the error code when an error occurs. A value of 16#0000 indicates normal execution. * Refer to A-1 Error Codes. NJ-series Motion Control Instructions Reference Manual (W508) 3-251 Variables 2: When the master axis reaches the master following distance.
